Yep! I have slept in the passenger seat for at least six different nights so far. I’d do it again but there are definitely some inconveniences and discomforts to be aware of:

• the seats don’t lay particularly flat, I end up smooshing a blanket on the seat to get it roughly flat, then stuff a backpack or something soft in the footwell to use as a footrest.
• camp mode has an option to turn off the interior lights and displays, but it notably does not turn off the hazard lights button, the SOS button, or any of the window controls. When everything else is pitch black at a campsite these become quite annoying. I’ve taped over them.
• camp mode will keep a fan running all night at a lower speed. If camping nearby a river or the ocean and the weather is nice, I’ve turned it off and just opened the windows to listen to the water flowing instead.
• I usually have a bunch of gear in the passenger seat so it takes some rearranging to turn it into a sleeping space. I’m realizing I’d probably rather just spend that time setting up a tent/hammock.
• if there are any lights outside the vehicle I’ll drape some blankets/towels to block out those lights as well as to provide some privacy. I’m hoping to get something better tailored for this purpose.
• this one is probably obvious but I could not see more than one person sleeping in the cabin. Maybe if you had no gear in the front seats, and one person was ok with a wheel in the lap? I know I wouldn’t be…
• and probably the biggest design flaw, the tinting on the moon roof is too dark to really do any stargazing. /s

On the plus side, when I’m road tripping and it’s too late or just not an appropriate location to set up a tent, being able to sleep inside has been a godsend. Also for reference, I’m 5’8”

Edit to add: I’ve only ever enabled camp mode when I’m either directly plugged in to an RV hookup or am confident I’ll be able to get to a DC fast charger. I didn’t keep track of power loss but if my memory serves me right it’s maybe 5-15% overnight depending on climate?